添加A星寻路算法头文件

cpp/AStar.h

+#pragma once
+
+#include<memory>
+#include<vector>
+
+
+class Grid 
+{
+public:
+	// 坐标位置
+	int x, y;
+	// fcost,gcost,hcost
+	double f, g, h;
+	// 当前点的父节点
+	std::shared_ptr<Grid> parent;
+public:
+	// 构造函数
+	Grid(int x_, int y_);
+	// 析构函数
+	~Grid(){}
+
+	// 更新grid
+	void updateGrid(std::shared_ptr<Grid> parent, const std::shared_ptr<Grid> end);
+};
+
+class AStar
+{
+private:
+	int mazeRow, mazeColum;
+	std::vector<std::vector<int>> maze;
+
+	void findMinGrid(std::vector<std::shared_ptr<Grid>>& openList,
+					std::shared_ptr<Grid>& currentGrid);
+
+	void findNeighbors(std::shared_ptr<Grid> grid,
+		std::vector<std::shared_ptr<Grid>>& open_list,
+		std::vector<std::shared_ptr<Grid>>& close_list,
+		std::vector<std::shared_ptr<Grid>>& neighbors);
+
+	bool isValidGrid(int x_, int y_,
+		std::vector<std::shared_ptr<Grid>>& open_list,
+		std::vector<std::shared_ptr<Grid>>& close_list);
+
+	bool containGrid(const std::vector<std::shared_ptr<Grid>>& grids_, int x_, int y_);
+public:
+	AStar(const int maze_rows, const int maze_colums,
+		const std::vector<std::vector<int>>& maze_) :mazeRow(maze_rows), mazeColum(maze_colums),maze(maze_) {}
+
+	/// <summary>
+	/// A星寻路算法
+	/// </summary>
+	/// <param name="re_end">返回的结果格子</param>
+	/// <param name="start">开始格子</param>
+	/// <param name="end">终点格子</param>
+	void aStarSearch(std::shared_ptr<Grid>& re_end,
+		std::shared_ptr<Grid> start,
+		std::shared_ptr<Grid> end);
+
+	/// <summary>
+	/// 由找到的终点回溯路径
+	/// </summary>
+	/// <param name="re_grid">找到的终点</param>
+	/// <param name="path_">回溯到的路径</param>
+	void getPath(std::shared_ptr<Grid> re_grid, 
+		std::vector<std::shared_ptr<Grid>>& path_);
+
+
+	void printPath(const std::shared_ptr<Grid> start_,
+				   const std::shared_ptr<Grid> end_,
+				   const std::vector<std::shared_ptr<Grid>>& path_);
+};
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